記号的運動学・特異点同定・作業領域決定を伴う新規部分非結合型並進パラレルマニピュレータ
A novel partially-decoupled translational parallel manipulator with symbolic kinematics, singularity identification and workspace determination
POC方程式に基づくトポロジカル設計で、低次元関節のみからなる3自由度並進パラレルマニピュレータを提案し、記号的順運動学解・特異点・作業領域を解析した。
著者: Huiping Shen, Yinan Zhao, Ju Li, Guanglei Wu, Damien Chablat
分類: cs.RO
原文アブストラクト
This paper presents a novel three-degree-of-freedom (3-DOF) translational parallel manipulator (TPM) by using a topological design method of parallel mechanism (PM) based on position and orientation characteristic (POC) equations. The proposed PM is only composed of lower-mobility joints and actuated prismatic joints, together with the investigations on three kinematic issues of importance. The first aspect pertains to geometric modeling of the TPM in connection with its topological characteristics, such as the POC, degree of freedom and coupling degree, from which its symbolic direct kinematic solutions are readily obtained. Moreover, the decoupled properties of input-output motions are directly evaluated without Jacobian analysis. Sequentially, based upon the inverse kinematics, the singular configurations of the TPM are identified, wherein the singular surfaces are visualized by means of a Gr{\"o}bner based elimination operation. Finally, the workspace of the TPM is evaluated with a geometric approach. This 3-DOF TPM features less joints and links compared with the well-known Delta robot, which reduces the structural complexity. Its symbolic direct kinematics and partially-decoupled property will ease path planning and dynamic analysis. The TPM can be used for manufacturing large work pieces.
